Event-triggered integral sliding mode control for uncertain fuzzy systems

Abstract

An event-triggered integral sliding mode controller design problem for uncertain T-S fuzzy systems is investigated in this paper. A novel triggering condition with the time-varying threshold is proposed, in which the system state error and the sliding variable error are considered simultaneously. The system state error with the time-varying threshold is included in the triggering condition. Thus the system trajectory is guaranteed to converge to a bounded region. The sliding variable error is added in the triggering condition to remove the assumption that the inter execution time has a uniform upper bound. Then, a sufficient condition of the ultimate boundedness for sliding motion is established and the controller gain can be obtained via solving the linear matrix inequality. Moreover, the Zeno phenomenon can be avoided by the proposed triggering condition and sliding mode controller. Finally, the effectiveness of obtained theoretical results is illustrated by two numerical examples.